Add asset bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1
Browse files- .gitattributes +1 -1
- dataset/bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1/affordance/affordance_annot.json +367 -0
- dataset/bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1/affordance/mesh_part_seg.glb +3 -0
- dataset/bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1/dental_floss_039.urdf +4 -3
.gitattributes
CHANGED
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@@ -5781,4 +5781,4 @@ dataset/bathroom_supplies/personal_care/3de49dc8c2a85b9c9b954348618da0e4/afforda
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dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5782 |
dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5784 |
-
dataset/bathroom_supplies/personal_care/
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| 5781 |
dataset/bathroom_supplies/personal_care/3fba18d5f7cf5fe897ab7d231497e7d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5782 |
dataset/bathroom_supplies/personal_care/426a5b58400a5567a627dbbfb3210045/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5783 |
dataset/bathroom_supplies/personal_care/42ed3cb38a9657cfa1433bf4ab3fee75/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5784 |
+
dataset/bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,367 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid edge to open or close the dental floss case",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while positioning it during closing",
|
| 14 |
+
"confidence": 0.42
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the floss compartment",
|
| 19 |
+
"open and close the case",
|
| 20 |
+
"protect the floss inside",
|
| 21 |
+
"provide access to the dispenser opening"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded white plastic lid with a smooth slightly glossy hard surface, medium-sized and hinged at the back of the small case, with a clean plain exterior.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_7": {
|
| 27 |
+
"confidence": 0.9491919279098511,
|
| 28 |
+
"position": [
|
| 29 |
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-0.055188211146742105,
|
| 30 |
+
0.01630497386213392,
|
| 31 |
+
0.14148117788136005
|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.17730432104179022,
|
| 35 |
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"xyz": [
|
| 36 |
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|
| 37 |
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|
| 38 |
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-0.03027988764989409
|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_10": {
|
| 43 |
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"confidence": 0.9469661712646484,
|
| 44 |
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"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.066757300234013,
|
| 51 |
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"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_13": {
|
| 59 |
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"confidence": 0.9452779293060303,
|
| 60 |
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"position": [
|
| 61 |
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-0.04687196249142289,
|
| 62 |
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0.05529551429208368,
|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.10160591773532371,
|
| 67 |
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"xyz": [
|
| 68 |
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|
| 69 |
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0.9682598995847975,
|
| 70 |
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-0.22351580504269888
|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_16": {
|
| 75 |
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"confidence": 0.9427269697189331,
|
| 76 |
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"position": [
|
| 77 |
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-0.05884308973327279,
|
| 78 |
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0.02454944548662752,
|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.14013582699570562,
|
| 83 |
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"xyz": [
|
| 84 |
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-0.07956521013888208,
|
| 85 |
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0.9783956481534255,
|
| 86 |
+
-0.1295117099038659
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_19": {
|
| 91 |
+
"confidence": 0.940092921257019,
|
| 92 |
+
"position": [
|
| 93 |
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-0.04860596964135766,
|
| 94 |
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0.027273927233181894,
|
| 95 |
+
0.13924470730125904
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.16537241614648285,
|
| 99 |
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"xyz": [
|
| 100 |
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0.9814268764718863,
|
| 101 |
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0.005468533671585979,
|
| 102 |
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0.09707391645542031
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
}
|
| 106 |
+
}
|
| 107 |
+
},
|
| 108 |
+
{
|
| 109 |
+
"part_name": "case body",
|
| 110 |
+
"mask_color": "Green",
|
| 111 |
+
"graspable": true,
|
| 112 |
+
"grasp_scenarios": [
|
| 113 |
+
{
|
| 114 |
+
"scenario": "grasp the case body to pick up and move the dental floss container",
|
| 115 |
+
"confidence": 0.96
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"scenario": "hold the body while pulling out floss",
|
| 119 |
+
"confidence": 0.94
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"scenario": "stabilize the body while closing the lid",
|
| 123 |
+
"confidence": 0.88
|
| 124 |
+
}
|
| 125 |
+
],
|
| 126 |
+
"functional_labels": [
|
| 127 |
+
"contain the floss supply",
|
| 128 |
+
"support dispensing",
|
| 129 |
+
"provide the main grasp surface",
|
| 130 |
+
"protect internal parts"
|
| 131 |
+
],
|
| 132 |
+
"semantic_description": "Compact rounded white plastic body with a smooth glossy hard surface, forming the larger lower half of the container and showing printed blue, red, and black branding on the exterior.",
|
| 133 |
+
"id": 1,
|
| 134 |
+
"grasp_group": {
|
| 135 |
+
"grasp_20": {
|
| 136 |
+
"confidence": 0.9628273248672485,
|
| 137 |
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"position": [
|
| 138 |
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0.00504230847582221,
|
| 139 |
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0.11315672693308443,
|
| 140 |
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-0.051193056628108025
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
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"w": 0.048435756788520176,
|
| 144 |
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"xyz": [
|
| 145 |
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0.040718161340850934,
|
| 146 |
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0.5101742351798737,
|
| 147 |
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-0.8577402045841004
|
| 148 |
+
]
|
| 149 |
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}
|
| 150 |
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},
|
| 151 |
+
"grasp_22": {
|
| 152 |
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"confidence": 0.9606249332427979,
|
| 153 |
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"position": [
|
| 154 |
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0.003765236120671034,
|
| 155 |
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0.11480761913117021,
|
| 156 |
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|
| 157 |
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],
|
| 158 |
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"orientation": {
|
| 159 |
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"w": 0.8071957222541702,
|
| 160 |
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"xyz": [
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| 161 |
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0.5797912051960942,
|
| 162 |
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|
| 163 |
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|
| 164 |
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]
|
| 165 |
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}
|
| 166 |
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},
|
| 167 |
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"grasp_24": {
|
| 168 |
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"confidence": 0.9563007354736328,
|
| 169 |
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"position": [
|
| 170 |
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0.0022291019558906555,
|
| 171 |
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0.1097252800827846,
|
| 172 |
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|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.008643594697288707,
|
| 176 |
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"xyz": [
|
| 177 |
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|
| 178 |
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|
| 179 |
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|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_25": {
|
| 184 |
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"confidence": 0.9546701312065125,
|
| 185 |
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"position": [
|
| 186 |
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|
| 187 |
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0.10206103918608278,
|
| 188 |
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|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.8574135893773159,
|
| 192 |
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"xyz": [
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| 193 |
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|
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|
| 195 |
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|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_27": {
|
| 200 |
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"confidence": 0.9516528844833374,
|
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],
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},
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| 297 |
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{
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| 298 |
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"part_name": "floss bundle",
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| 299 |
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| 300 |
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"graspable": false,
|
| 301 |
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"grasp_scenarios": [],
|
| 302 |
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"functional_labels": [
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| 303 |
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"provide dental floss material",
|
| 304 |
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"feed floss outward",
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| 305 |
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"supply cleaning thread",
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| 306 |
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"unwind during dispensing"
|
| 307 |
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],
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| 308 |
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"semantic_description": "White packed floss material visible inside the case cavity, with fine parallel thread-like texture across the top surface and a matte to semi-gloss appearance.",
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| 309 |
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"id": 17,
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| 310 |
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"grasp_group": {}
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| 311 |
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},
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{
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"part_name": "inner rim",
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| 314 |
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"mask_color": "Cyan",
|
| 315 |
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"graspable": false,
|
| 316 |
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"grasp_scenarios": [],
|
| 317 |
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"functional_labels": [
|
| 318 |
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"support the lid opening",
|
| 319 |
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"retain internal components",
|
| 320 |
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"guide access to the floss compartment",
|
| 321 |
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"form the case opening boundary"
|
| 322 |
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],
|
| 323 |
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"semantic_description": "Thin white plastic rim around the top opening, with a smooth hard finish and narrow continuous shape bordering the upper edge of the case body.",
|
| 324 |
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"id": 6,
|
| 325 |
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"grasp_group": {}
|
| 326 |
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},
|
| 327 |
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{
|
| 328 |
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"part_name": "side hinge strip",
|
| 329 |
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"mask_color": "Magenta",
|
| 330 |
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"graspable": false,
|
| 331 |
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"grasp_scenarios": [],
|
| 332 |
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"functional_labels": [
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| 333 |
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"connect lid to body",
|
| 334 |
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"enable lid rotation",
|
| 335 |
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"maintain alignment while opening",
|
| 336 |
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"support repeated opening cycles"
|
| 337 |
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],
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| 338 |
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"semantic_description": "Narrow white hinge strip visible along the rear side of the lid-body junction, smooth and hard, acting as the connecting band for the hinged opening motion.",
|
| 339 |
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"id": 7,
|
| 340 |
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"grasp_group": {}
|
| 341 |
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},
|
| 342 |
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{
|
| 343 |
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"part_name": "front latch tab",
|
| 344 |
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"mask_color": "Blue",
|
| 345 |
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"graspable": true,
|
| 346 |
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"grasp_scenarios": [
|
| 347 |
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{
|
| 348 |
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"scenario": "pinch or hook the small front tab to lift the lid open",
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| 349 |
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"confidence": 0.67
|
| 350 |
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}
|
| 351 |
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],
|
| 352 |
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"functional_labels": [
|
| 353 |
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"assist lid opening",
|
| 354 |
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"indicate the front side",
|
| 355 |
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"help secure closure",
|
| 356 |
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"provide a thumb or fingertip access point"
|
| 357 |
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],
|
| 358 |
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"semantic_description": "Small white plastic tab centered on the front edge of the case opening, with a smooth hard surface and shallow protruding shape intended for fingertip access.",
|
| 359 |
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"id": 2,
|
| 360 |
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"grasp_group": {}
|
| 361 |
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}
|
| 362 |
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],
|
| 363 |
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"quality_check": {
|
| 364 |
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"success": false,
|
| 365 |
+
"message": "Mask-color part identities mismatch: white floss interior is not floss bundle, and magenta marks lid edge not hinge strip."
|
| 366 |
+
}
|
| 367 |
+
}
|
dataset/bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:b599b636e76cfa1b44f4c8b3237eb5d2a5a34717ae3ef3b8a8692de066601338
|
| 3 |
+
size 3870964
|
dataset/bathroom_supplies/personal_care/44396a1eaef45e4ea794e2bbdbd5c1d1/dental_floss_039.urdf
CHANGED
|
@@ -50,16 +50,17 @@
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
-
<part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
-
<mesh filename="
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
-
<PartSegChecker>
|
| 63 |
</quality>
|
| 64 |
</custom_data>
|
| 65 |
</robot>
|
|
|
|
| 50 |
</link>
|
| 51 |
<custom_data>
|
| 52 |
<affordance>
|
| 53 |
+
<part_count>6</part_count>
|
| 54 |
<visual_seg>
|
| 55 |
<origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
|
| 56 |
<geometry>
|
| 57 |
+
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
+
<PartSegChecker>YES</PartSegChecker>
|
| 64 |
</quality>
|
| 65 |
</custom_data>
|
| 66 |
</robot>
|